Trinamic TMCM-6110 Owner's manual

Trinamic
Brand
Trinamic
Model
TMCM-6110
Type
Owner's manual
MODULE FOR STEPPER MOTORS MODULE
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Hardware Version V1.10
HARDWARE MANUAL
+ + TMCM-6110
6 Axes Stepper
Controller / Driver
1.1A RMS / 24V DC
USB, CAN, RS485 [or RS232]
+ +
TMCM-6110 Hardware Manual (Rev. 1.14 / 2014-DEC-10) 2
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Table of Contents
1 Features ........................................................................................................................................................... 3
2 Order Codes ..................................................................................................................................................... 4
3 Mechanical and Electrical Interfacing .............................................................................................................. 5
3.1 Size of Board ............................................................................................................................................ 5
3.2 Board mounting considerations .............................................................................................................. 5
3.2.1 DIN Rail Mounting .............................................................................................................................. 6
3.3 Connectors ............................................................................................................................................... 6
3.3.1 Power Connector................................................................................................................................ 8
3.3.2 I/O Connector 0 .................................................................................................................................. 8
3.3.3 I/O Connector 1 .................................................................................................................................. 9
3.3.4 Motor Connector 0-5 ......................................................................................................................... 9
3.3.5 Reference Switch Connector 0-5 ........................................................................................................ 9
3.3.6 CAN Connector ................................................................................................................................. 10
3.3.7 RS485 Connector .............................................................................................................................. 10
3.3.8 USB Connector ................................................................................................................................. 10
3.4 Power Supply ......................................................................................................................................... 11
3.5 Communication ..................................................................................................................................... 11
3.5.1 RS485 ................................................................................................................................................ 11
3.5.2 CAN ................................................................................................................................................... 13
3.5.3 USB ................................................................................................................................................... 13
3.6 Inputs and Outputs ................................................................................................................................ 15
3.6.1 Reference Switch Inputs ................................................................................................................... 15
3.6.2 General Purpose Inputs .................................................................................................................... 15
3.6.3 General Purpose Outputs ................................................................................................................. 16
4 Motor driver current ...................................................................................................................................... 17
5 On-board LEDs ............................................................................................................................................... 19
6 Reset to Factory Defaults ............................................................................................................................... 20
7 Functional Description ................................................................................................................................... 21
8 Using the RS232 assembly option instead of RS485 ...................................................................................... 22
9 Position of connectors ................................................................................................................................... 23
10 Operational Ratings ....................................................................................................................................... 24
11 Life Support Policy ......................................................................................................................................... 26
12 Revision History ............................................................................................................................................. 27
12.1 Document Revision ................................................................................................................................ 27
12.2 Hardware Revision ................................................................................................................................. 27
13 References ..................................................................................................................................................... 27
TMCM-6110 Hardware Manual (Rev. 1.14 / 2014-DEC-10) 3
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1 Features
The TMCM-6110 is a compact 6-axes stepper motor controller/driver standalone board. It supports up to 6 bipolar stepper
motors with up to 1.1A RMS coil current. There are separate motor and reference/end switch connectors for each motor.
In addition, the module offers 8 general purpose inputs and 8 general purpose outputs.
MAIN CHARACTERISTICS
Motion controller
- Motion profile calculation in real-time
- On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
- High performance microcontroller for overall system control and serial communication protocol handling
Bipolar stepper motor driver
- Up to 256 microsteps per full step
- High-efficient operation, low power dissipation
- Dynamic current control
- Integrated protection
- stallGuard2™ feature for stall detection
- coolStep™ feature for reduced power consumption and heat dissipation
Interfaces
- Up to 8 multi-purpose inputs (+24V compatible, incl. 2 dedicated analog inputs)
- Up to 8 multi-purpose outputs (open-drain, incl. 2 outputs for currents up to 1A)
- RS485 2-wire communication interface
- USB 2.0 full speed (12Mbit/s) communication interface (mini-USB connector)
- CAN 2.0B communication interface (9pin D-SUB)
Features
- Uses TMC429 stepper motor controller for on-the-fly alteration of many motion specific parameters
- Uses TMC260 advanced stepper motor driver IC
- Up to 256 microsteps per fullstep
- Integrated protection: overtemperature/undervoltage
Software
- TMCL remote (direct mode) and standalone operation (memory for up to 2048 TMCL commands)
- Fully supported by TMCL-IDE (PC based integrated development environment)
Electrical data
- Supply voltage: +9V… +28V DC
- Motor current: up to 1.1A RMS (programmable) per axis
Mechanical data
- Board size: 130mm x 100mm, height 30mm max.
- 4 mounting holes for M3 screws
Please see separate TMCL Firmware Manual for additional information
TMCM-6110 Hardware Manual (Rev. 1.14 / 2014-DEC-10) 4
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2 Order Codes
Order code
Description
Size of unit
TMCM-6110-option
6-axes bipolar stepper motor controller and driver module
130mm x 100mm x 30mm
Table 2.1 TMCM-6110 order codes
The following options are available:
Firmware option
Description
Order code example:
-TMCL
Module pre-programmed with TMCL firmware
TMCM-6110-TMCL
Table 2.2 TMCM-6110 firmware options
A version with RS232 interface and 9pin female D-SUB connector instead of RS485 is available as assembly option upon
request (please see chapter x.xx for adding RS232 interface option instead of RS485 to standard version for
prototyping):
Interface option
Description
Order code example:
-232
Module with RS232 interface instead of RS485
TMCM-6110-232-TMCL
Table 2.3 TMCM-6110 interface options
A cable loom set is available for this module.
Order code
Description
TMCM-6110-CABLE
The cable loom for TMCM-6110 contains:
- 1x Cable loom for power connector
- 6x cable loom for reference switch connectors 0-5
- 6x cable loom for motor connector 0-5
- 2x cable loom for I/O connector 0+1
- 1x USB type A connector to mini-USB type B connector cable
Table 2.4 Cable loom order code
TMCM-6110 Hardware Manual (Rev. 1.14 / 2014-DEC-10) 5
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3 Mechanical and Electrical Interfacing
3.1 Size of Board
The board with the controller / driver electronics has an overall size of 130mm x 100mm and offers four mounting holes
for M3 screws (3.2mm diameter). Maximum board height (without mating connectors and cable looms) is about 30mm
(approx. 26mm above printed circuit board level).
130
100
125
5
95
5
5
4x M3 screws
for mounting
Figure 3.1 Board dimensions and position of mounting holes (all values in mm).
3.2 Board mounting considerations
The TMCM-6110 offers four metal plated mounting holes. All four mounting holes are connected to system and signal
ground (same as power supply ground).
In order to minimize distortion of signals and radiation of HF signals (improve EMC compatibility) especially in sensitive /
noisy environments it is important to ensure a solid ground connection within the system. In order to support this, it is
recommended to connect all four mounting holes of the board in addition to the supply ground connection to system
power supply ground.
Nevertheless, this might not always be an option e.g. in case the metal system chassis / TMCM-6110 mounting plate is
already connected to earth and a direct connection between supply ground (secondary side) and mains supply earth
(primary side) is not desired / not an option. In this case plastic (e.g. made of nylon) spacers / distance bolts should be
used.
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3.2.1 DIN Rail Mounting
The board has been designed in order to support DIN rail mounting. One dimension of the board has been limited to
100mm and there is a minimum border of approx. two millimeters alongside all four corners of the board free of any
component. This way, a standard mounting carrier for DIN rails as it is available from several sources might be used as
adapter for DIN rail mounting of the board.
EXAMPLE
Mounting carrier for DIN 35 rail from WAGO® (288-003) cut to the length of the TMCM-6110 board (130mm) with
populated TMCM-6110.
Figure 3.2 DIN rail mounting
3.3 Connectors
The TMCM-6110 has 18 connectors altogether. There are 6 separate connectors for each motor and corresponding
reference switches (Figure 4.4), two I/O connectors, one power connector and 3 connectors for communication incl. Mini-
USB, RS485 and CAN.
14 1 4 1 4 1 4 1 4 1 4
Reference sw itch connectors
Motor connectors
1 4 1 4 14 14 1414
1
10
1
10
1
3
1
59
61
59
6
CAN connector
RS485 connector
Mini-USB connector
I /O connector 0
I /O connector 1
Power connector
Axis 0 Axis 1 Axis 2 Axis 3 Axis 4 Axis5
Axis 0 Axis 1 Axis 2 Axis 3 Axis 4 Axis5
Figure 3.3 TMCM-6110 connectors
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OVERVIEW OF CONNECTOR AND MATING CONNECTOR TYPES
Label
Mating connector type
Power Connector
Connector housing: JST VHR-3N
Contacts: JST SVH-21T-P1.1
Wire: 0.83mm2, AWG 18
Motor Connectors
Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Reference Switch
Connectors
Connector housing CVIlux: CI01045000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-4
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
I/O Connector 0 + 1
Connector housing CVIlux: CI010105000-A
Contacts CVIlux: CI01T011PE0-A
or
Connector housing JST: PHR-10
Contacts JST: SPH-002T-P0.5S
Wire: 0.22mm2
Mini-USB Connector
Any standard mini-USB plug
RS485 Connector
Any standard D-SUB female 9-pin
CAN Connector
Any standard D-SUB female 9-pin
Table 3.1 Connectors and mating connectors, contacts and applicable wire
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3.3.1 Power Connector
The module offers a single power connector with the option to have separate supply for driver electronics and digital
controller part. A single supply voltage is sufficient, all further voltages required e.g. for the digital components are
generated on-board.
1
3
Pin
Label
Direction
Description
1
GND
Power (GND)
Common system supply and signal ground
2
VDRIVER
Power
(Supply input)
Stepper driver supply voltage. Without this voltage stepper driver
ICs and therefore any motor connected will not be energized
3
VDIGITAL
Power
(Supply input)
Supply voltage for everything else apart from the stepper motor
driver ICs. On-board voltage regulator will generate the
necessary voltages for the digital circuits from this supply. This
pin can be left unconnected. In this case a diode between VDRIVER
and VDIGITAL will ensure supply of the digital parts.
Please note:
- The diode has a current rating of 3A. As VDIGTIAL is available at
the I/O connectors and the reference switch connectors also,
always connect this pin to positive supply voltage in case
substantial amount of current is withdrawn from these pins
for external circuits.
- It is expected that VDIGITAL and VDRIVER are connected to the
same power supply output when both pins are used.
Otherwise please ensure that VDIGITAL is always equal or
higher than VDRIVER when connected (due to the diode).
Table 3.2 Power connector
3.3.2 I/O Connector 0
The module offers two I/O connectors. The number and type of inputs, outputs and supply is the same for both
connectors. Therefore, if only half of the inputs / outputs etc. is required it will be sufficient to use just one of the two
connectors and reduce / simplify cabling.
1
10
Pin
Label
Direction
Description
1
GND
Power (GND)
GND
2
VDIGITAL
Power
(Supply output)
Connected to VDIGITAL of Power connector
3
AIN_0
Input
Dedicated analog input,
input voltage range: 0… +10V,
resolution: 12bit (0… 4095)
4
IN_1
Input
Digital input (+24V compatible)
Home switch input for motor 0
5
IN_2
Input
Digital input (+24V compatible)
Home switch input for motor 1
6
IN_3
Input
Digital input (+24V compatible)
Home switch input for motor 2
7
OUT_0
Output
Open-drain output (max. 100mA)
Integrated freewheeling diode
8
OUT_1
Output
Open-drain output (max. 100mA)
Integrated freewheeling diode
9
OUT_2
Output
Open-drain output (max. 100mA)
Integrated freewheeling diode
10
OUT_3
Output
Open-drain output (max. 1A)
Integrated freewheeling diode
Table 3.3 I/O connector 0
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3.3.3 I/O Connector 1
The module offers two I/O connectors. The number and type of inputs, outputs and supply is the same for both
connectors. Therefore, if only half of the inputs / outputs etc. is required it will be sufficient to use just one of the two
connectors and reduce / simplify cabling.
1
10
Pin
Label
Direction
Description
1
GND
Power (GND)
GND
2
VDIGITAL
Power
(Supply output)
Connected to VDIGITAL of Power connector
3
AIN_4
Input
Dedicated analog input,
input voltage range: 0… +10V,
resolution: 12bit (0… 4095)
4
IN_5
Input
Digital input (+24V compatible)
Home switch input for motor 3
5
IN_6
Input
Digital input (+24V compatible)
Home switch input for motor 4
6
IN_7
Input
Digital input (+24V compatible)
Home switch input for motor 5
7
OUT_4
Output
Open-drain output (max. 100mA)
Integrated freewheeling diode
8
OUT_5
Output
Open-drain output (max. 100mA)
Integrated freewheeling diode
9
OUT_6
Output
Open-drain output (max. 100mA)
Integrated freewheeling diode
10
OUT_7
Output
Open-drain output (max. 1A)
Integrated freewheeling diode
Table 3.4 I/O connector 1
3.3.4 Motor Connector 0-5
For each stepper motor axis a separate 4 pin connector is available.
14
Pin
Label
Direction
Description
1
A1
Output
Pin 1 of motor coil A
2
A2
Output
Pin 2 of motor coil A
3
B1
Output
Pin 1 of motor coil B
4
B2
Output
Pin 2 of motor coil B
Table 3.5 Motor connector
3.3.5 Reference Switch Connector 0-5
For each stepper motor axis a separate reference / limit switch input connector is available.
14
Pin
Label
Direction
Description
1
GND
Power (GND)
Signal and system ground
2
VDIGITAL
Power (Supply output)
Connected to VDIGITAL
3
REF_L
Input
Input for reference / limit switch left
4
REF_R
Input
Input for reference / limit switch right
Table 3.6 Reference switch connector
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3.3.6 CAN Connector
A CAN 2.0B interface is available via a standard 9-pin male D-SUB connector. Only three pins of this connector are used.
Pin assignment of these three pins is according to CiA Draft Recommendation Part 1: cabling and connector pin
assignment.
CAN interface will be de-activated in case USB is connected due to internal sharing of hardware resources.
5
16
9
Pin
Label
Direction
Description
1
2
CAN_L
Bi-directional
Differential CAN bus signal (inverting)
3
GND
Power (GND)
Signal and system ground
4
5
6
7
CAN_H
Bi-directional
Differential CAN bus signal (non-inverting)
8
9
Table 3.7 CAN connector
3.3.7 RS485 Connector
An RS485 interface is available via a 9-pin male D-SUB connector.
5
16
9
Pin
Label
Direction
Description
1
2
RS485-
Bi-directional
Differential RS485 bus signal (inverting)
3
GND
Power (GND)
Signal and system ground
4
5
6
7
RS485+
Bi-directional
Differential RS485 bus signal (non-inverting)
8
9
Table 3.8 RS485 connector
3.3.8 USB Connector
A USB interface is available via a Mini-USB connector. This module supports USB 2.0 Full-Speed (12Mbit/s) connections.
CAN interface will be deactivated as soon as USB is connected (VBUS voltage available)
On-board digital core logic (mainly processor and EEPROM) will be powered via USB in case no other supply is connected.
This can be used to set parameters / download TMCL programs or perform firmware updates with the module connected
via USB only or inside the machine while the machine is powered off.
1
5
Pin
Label
Direction
Description
1
VBUS
Power (+5V input)
+5V supply from Host
2
D-
Bi-directional
USB Data -
3
D+
Bi-directional
USB Data +
4
ID
Connected to signal and system ground
5
GND
Power (GND)
Signal and System ground
Table 3.9 USB connector
TMCM-6110 Hardware Manual (Rev. 1.14 / 2014-DEC-10) 11
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3.4 Power Supply
For proper operation care has to be taken with regard to power supply concept and design. The board offers 2000uF /
35V electrolytic buffer capacitors and additionally about 120uF / 35V ceramic capacitors for supply voltage filtering.
Power
connector
VDIGITAL
VDRI VER
SMBJ28A
1000µF
GND
1000µF
GND
6x TMC260
(stepper driver ICs)
GND
SK36
SMBJ28A
100µF
GND
Supply of other circuits
via on-board regulators
GND
VDIGITAL on I/O connector 0 + 1
VDIGITAL on Reference switch connector 0-5
Figure 3.4 TMCM-6110 power supply concept
HINTS FOR POWER SUPPLY
- keep power supply cables as short as possible
- use large diameters for power supply cables
CAUTION!
Do not connect or disconnect motor during operation!
Motor cable and motor inductivity might lead to voltage spikes when the motor is disconnected /
connected while energized. These voltage spikes might exceed voltage limits of the driver MOSFETs
and might permanently damage them. Therefore, always disconnect power supply before
connecting / disconnecting the motor.
Keep the power supply voltage (VDRIVER and VDIGITAL) below the upper limit of 28V!
Otherwise the driver electronics will seriously be damaged! Especially, when the selected operating
voltage is near the upper limit a regulated power supply is highly recommended. Please refer to
chapter 0 (operating values).
There is no reverse polarity protection!
The module will short any reversed supply voltage due to internal diodes of the driver transistors.
3.5 Communication
3.5.1 RS485
For remote control and communication with a host system the TMCM-6110 provides a two wire RS485 bus interface. For
proper operation the following items should be taken into account when setting up an RS485 network:
1. BUS STRUCTURE:
The network topology should follow a bus structure as closely as possible. That is, the connection between each
node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the
bus.
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c:> node
1
node
n - 1
node
n
Host Slave Slave Slave
RS485
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
Figure 3.3: Bus structure
2. BUS TERMINATION:
Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the
bus should be properly terminated at both ends. The TMCM-6110 does not integrate any termination resistor.
Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally.
3. NUMBER OF NODES:
The RS485 electrical interface standard (EIA-485) allows up to 32 nodes to be connected to a single bus. The bus
transceiver used on the TMCM-6110 (SN65HVD3082ED) has a significantly reduced bus load and allows a
maximum of 255 units to be connected to a single RS485 bus using TMCL firmware. Please note: usually it cannot
be expected to get reliable communication with the maximum number of nodes connected to one bus and
maximum supported communication speed at the same time. Instead, a compromise has to be found between
bus cable length, communication speed and number of nodes.
4. COMMUNICATION SPEED:
The maximum RS485 communication speed supported by the TMCM-6110 is 115200 bit/s. Factory default is
9600 bit/s. Please see separate TMCM-6110 TMCL firmware manual for information regarding other possible
communication speeds.
5. NO FLOATING BUS LINES:
Avoid floating bus lines while neither the host/master nor one of the slaves along the bus line is transmitting
data (all bus nodes switched to receive mode). Floating bus lines may lead to communication errors. In order to
ensure valid signals on the bus it is recommended to use a resistor network connecting both bus lines to well
defined logic levels.
There are actually two options which can be recommended:
Add resistor (Bias) network on one side of the bus, only (120R termination resistor still at both ends):
node
n - 1
node
n
Slave Slave
termination
resistor
(120R)
+5V
GND
pull-up (680R)
pull-down (680R)
RS485- / RS485B
termination
resistor
(220R)
RS485+ / RS485A
Figure 3.4: Bus lines with resistor (Bias) network on one side, only
Or add resistor (Bias) network at both ends of the bus (like Profibus™ termination):
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node
n - 1
node
n
Slave Slave
termination
resistor
(220R)
+5V
GND
pull-up (390R)
pull-down (390R)
RS485- / RS485B
RS485+ / RS485A
termination
resistor
(220R)
+5V
GND
pull-up (390R)
pull-down (390R)
Figure 3.5: Bus lines with resistor (Bias) network at both ends
3.5.2 CAN
For remote control and communication with a host system the TMCM-6110 provides a CAN bus interface. Please note
that the CAN interface is not available in case USB is connected. For proper operation the following items should be taken
into account when setting up a CAN network:
1. BUS STRUCTURE
The network topology should follow a bus structure as closely as possible. That is, the connection between each
node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the
bus.
c:> node
1
node
n - 1
node
n
Host Slave Slave Slave
CAN
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
}
keep distance as
short as possible
Figure 3.7 CAN bus structure
2. BUS TERMINATION
Especially for longer busses and/or multiple nodes connected to the bus and/or high communication speeds, the
bus should be properly terminated at both ends. The TMCM-6110 does not integrate any termination resistor.
Therefore, 120 Ohm termination resistors at both ends of the bus have to be added externally.
3. NUMBER OF NODES
The bus transceiver used on the TMCM-6110 units (TJA1050T) supports at least 110 nodes under optimum
conditions. Practically achievable number of nodes per CAN bus highly depends on bus length (longer bus -> less
nodes) and communication speed (higher speed -> less nodes).
3.5.3 USB
For remote control and communication with a host system the TMCM-6110 provides a USB 2.0 full-speed (12Mbit/s)
interface (mini-USB connector). As soon as a USB-Host is connected the module will accept commands via USB. The CAN
interface will be de-activated then.
The TMCM-6110 support USB self powered operation (when an external power is supplied via the power supply
connector) and USB bus powered operation, also (no external power supply via power supply connector). During USB bus
powered operation, only the core digital circuit parts will be operational. That is, the microcontroller itself and also the
EEPROM. Motor movements will not be possible. This mode has been implemented in order to enable configuration /
parameter setting / read-out, firmware updates etc. by just connecting a USB cable between the module and a host PC.
No additional cabling / external devices as e.g. power supply etc. are required in that case.
TMCM-6110 Hardware Manual (Rev. 1.14 / 2014-DEC-10) 14
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Please note that the module might draw current from the USB +5V bus supply even in USB self powered operation
depending on the voltage level of this supply.
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3.6 Inputs and Outputs
3.6.1 Reference Switch Inputs
The six reference switch connectors – one for each stepper motor axis – offer two reference switch inputs each, REF_L
and REF_R.
Both inputs offer the same input circuit with voltage resistor dividers, limiting diodes against over- and under-voltage and
programmable 1k pull-ups to +5V. The programmable pull-ups can be switched on or off separately for the first three axes
/ first three reference switch connectors 0-2 and the second three axes / reference switch connectors 3-5.
+3.3V
REF_L,
REF_R
TMC429
10k
22k
1nF
GND GND GND
1k
+5V
Figure 3.8 Reference switch input circuit (simplified diagram)
With TMCL firmware commands GAP 10, 0 and GAP 11, 0 can be used to read out the status of the reference switch
inputs. See TMCL Firmware Manual chapter 5 about Axis parameters and Reference search for more details.
3.6.2 General Purpose Inputs
The TMCM-6110 offers two I/O connectors with 8 inputs altogether including two dedicated analog inputs. All inputs offer
the same basic input protection circuit. The dedicated analog inputs have different input voltage dividers in order to
support a full scale input voltage range of 0…+10V. The other digital inputs have been designed in order to be able to
accept +5V and +24V signal levels.
+3.3V
IN_1,
IN_2,
IN_3,
IN_5,
IN_6,
IN_7
microcontroller
10k
22k
1nF
GND GND GND
Figure 3.9 General purpose digital input circuit
With TMCL firmware command GIO <n>, 0 can be used to read out the status of the digital input <n>. See TMCL Firmware
Manual command GIO for more details.
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+3.3V
AIN_0,
AIN_4
microcontroller
22k
10k
1nF
GND GND GND
Figure 3.10 General purpose analog input circuit
With TMCL firmware command GIO <n>, 1 can be used to read out the analog / digital converted value of the analog input
<n>. See TMCL Firmware Manual command GIO for more details.
The function of the inputs might differ depending on firmware version.
3.6.3 General Purpose Outputs
The TMCM-6110 offers two I/O connectors with 8 outputs altogether. All outputs are open-drain outputs. For all outputs
a freewheeling diode (to VDIGTAL) is already integrated.
Nevertheless, two output offer more powerful MOSFET driver transistors supporting currents up to 1A. All other have
been designed for currents up to 100mA.
If VDIGITAL connection of the I/O connectors is used for supply of substantial current to any external circuit please make
sure to connect VDIGTIAL in addition to VDRIVER of the power supply connector.
VDIGITAL
OUT_0,
OUT_1,
OUT_2,
OUT_3,
OUT_4,
OUT_5,
OUT_6,
OUT_7
microcontroller
GND
Figure 3.11 General purpose output (open-drain with freewheeling diode)
With TMCL firmware command SIO <n>, 2, 1 can be used to set / pull-down the output <n>. See TMCL Firmware Manual
command SIO for more details.
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4 Motor driver current
The on-board stepper motor driver operates current controlled. The driver current may be programmed in software for
motor coil currents up-to 1.1A RMS with 32 effective scaling steps in hardware (CS in table below).
Explanation of different columns in table below:
Motor current
setting in
software (TMCL)
These are the values for TMCL axis parameter 6 (motor run current) and 7 (motor standby
current). They are used to set the run / standby current using the following TMCL commands:
SAP 6, 0, <value> // set run current
SAP 7, 0, <value> // set standby current
(read-out value with GAP instead of SAP. Please see separate TMCM-6110 firmware manual
for further information)
Motor current
IRMS [A]
Resulting motor current based on motor current setting
Motor current
setting in
software (TMCL)
Current
scaling step
(CS)
Motor
current
ICOIL_PEAK [A]
Motor current
ICOIL_RMS [A]
0..7
0
0.052
0.036
8..15
1
0.103
0.073
16..23
2
0.155
0.109
24..31
3
0.206
0.146
32..39
4
0.258
0.182
40..47
5
0.309
0.219
48..55
6
0.361
0.255
56..63
7
0.413
0.292
64..71
8
0.464
0.328
72..79
9
0.516
0.365
80..87
10
0.567
0.401
88..95
11
0.619
0.438
96..103
12
0.670
0.474
104..111
13
0.722
0.510
112..119
14
0.773
0.547
120..127
15
0.825
0.583
128..135
16
0.877
0.620
136..143
17
0.928
0.656
144..151
18
0.980
0.693
152..159
19
1.031
0.729
160..167
20
1.083
0.766
168..175
21
1.134
0.802
176..183
22
1.186
0.839
184..191
23
1.238
0.875
192..199
24
1.289
0.912
200..207
25
1.341
0.948
208..215
26
1.392
0.984
216..223
27
1.444
1.021
224..231
28
1.495
1.057
232..239
29
1.547
1.094
240..247
30
1.598
1.130
248..255
31
1.650
1.167
In addition to the settings in the table the motor current may be switched off completely (free-wheeling) using axis
parameter 204 (see TMCM-6110 firmware manual).
TMCM-6110 Hardware Manual (Rev. 1.14 / 2014-DEC-10) 18
www.trinamic.com
TMCM-6110 Hardware Manual (Rev. 1.14 / 2014-DEC-10) 19
www.trinamic.com
5 On-board LEDs
The board offers two LEDs in order to indicate board status. The function of both LEDs is dependent on firmware version.
With standard TMCL firmware the green LED should be slowly flashing during operation and the red LED should be off.
Please see separate TMCM-6110 TMCL firmware manual for additional information.
When there is no valid firmware programmed into the board or during firmware update the red and green LEDs are
permanently on.
Red LED
Green LED
Figure 5.1 On-board LEDs
TMCM-6110 Hardware Manual (Rev. 1.14 / 2014-DEC-10) 20
www.trinamic.com
6 Reset to Factory Defaults
Since TMCL firmware version V1.13 it is possible to reset the TMCM-6110 module to factory default settings without
establishing a communication link. This might be helpful in case communication parameters of the preferred interface
have been set to unknown values or got accidentally lost.
PERFORM THE FOLLOWING STEPS:
1. Power supply off and USB cable disconnected
2. Short two pads as marked in Figure 6.1.
3. Power up board (power via USB is sufficient for this purpose)
4. Wait until the on-board red and green LEDs start flashing fast (this might take a while)
5. Power-off board (disconnect USB cable)
6. Remove short between pads
7. After switching on power-supply / connecting USB cable all permanent settings have been restored to factory
defaults
Short these two pads
Figure 6.1 Reset to factory default settings
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Trinamic TMCM-6110 Owner's manual

Trinamic
Brand
Trinamic
Model
TMCM-6110
Type
Owner's manual
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